| 摘要 |
PURPOSE:To obtain an origin position signal from the outputs of a position detecting means of detecting the angle of rotation of a moving machine from an origin and another position detecting means of detecting the position relative to the origin, by providing those position detecting means to a rotary encoder and a speed reducer respectively. CONSTITUTION:The joint part of a robot is equipped with the encoder 9 coupled with a motor 7 and a disk 12 coupled with the speed reducer 5. The encoder 9 has a slit 14 for generating the origin signal in addition to a slit 11 for generating a position signal. While the joint has one turn, the encoder 9 rotates several times and the origin signal is generated at every time by the slit 14 for origin detection. A gap sensor 13 detects the gap 15 of the rotating disk 12. Then, both detection signals are ANDed to generate an AND signal. Thus, a decision on a real origin position signal is made. |
